CN1268088A - Vehicle tracking and security system incorporating simultaneous voice and data communication - Google Patents

Vehicle tracking and security system incorporating simultaneous voice and data communication Download PDF

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Publication number
CN1268088A
CN1268088A CN98808573A CN98808573A CN1268088A CN 1268088 A CN1268088 A CN 1268088A CN 98808573 A CN98808573 A CN 98808573A CN 98808573 A CN98808573 A CN 98808573A CN 1268088 A CN1268088 A CN 1268088A
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China
Prior art keywords
signal
data
vehicle
voice
monitoring center
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Pending
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CN98808573A
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Chinese (zh)
Inventor
R·L·希尔曼
B·L·多尔
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Navox Corp
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Navox Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
    • B60R16/0373—Voice control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
    • B60R25/102—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2325/00—Indexing scheme relating to vehicle anti-theft devices
    • B60R2325/30—Vehicles applying the vehicle anti-theft devices
    • B60R2325/304—Boats

Abstract

A system which tracks and monitors a vehicle by utilizing cellular communication componentry and global positioning system componentry is disclosed. The system provides for simultaneous and continuous transmission of a voice signal and location data to a monitoring center. The monitoring center comprises componentry to communicate with the vehicle and determine the vehicle's location on a digitized map using a computer.

Description

Carry out the vehicle tracking and the safety system of voice communications versus data communications simultaneously
Invention field
The present invention relates to vehicle (vehicle) communication, tracking and safety system, it utilizes cellular network communication link transferring voice and GPS vehicle position data simultaneously.
Background of invention
Begin in early days since this century, no matter be in the U.S. or at All Around The World, vehicle has become the main portion of culture.It is independent, free and fast also allow the people get lost simultaneously that yet vehicle provided, is involved in traffic accident, becomes the victim of crime.With regard to last a kind of situation, by bus vehicle is when there was a mechanical failure in the process of travelling as a people, and he just is in breakneck condition, because this regional crime rate is very high, act of violence often takes place on these express highways and roadnet perhaps.Equally, stolen this problem of vehicle is also more and more outstanding, vehicle is stolen for oneself used, and perhaps splits into parts.Occurred a kind of new criminal trend recently again, this crime is called the misfortune car, just is held as a hostage in the process that vehicle is travelling.
There are many systems can allow the people in the car in needs, obtain help in the prior art, perhaps after vehicle is stolen, can follow the tracks of vehicle.For example can be with reference to No. 5043736 US Patent of authorizing Darnell etc., authorize No. 5223844 US Patent of Mansell etc., No. 5557254 US Patent of authorizing Johnson etc.These systems have adopted identical basic thought, that is to say, global positioning system (GPS) is installed in vehicle, by cellular phone link or paging system network the gps signal of receiving are transmitted to monitoring center in vehicle.These systems are made up of various parts.Wherein some have been installed the GPS receiver in vehicle.The GPS receiver receives the gps signal of earth-orbiting satellite, obtains after these signals, utilizes signal processing technology to determine the position of this GPS receiver.Communicator also has been installed in the vehicle, has been used in vehicle, launching the gps signal of receiving.These communicators comprise cellular transmission system, paging system or radio station.At last, center, base or monitoring center receive the gps signal of vehicle emission, thereby signal is handled the position of determining vehicle.But between vehicle driver and monitoring center, adopt this mode of verbal message in the prior art in all these systems, and between vehicle and monitoring center this mode of transmitting GPS data, all have significant disadvantages.
The invention summary
The invention provides a kind of obvious improved system that has, it combines the communication capacity of cell phone system and the geo-location ability of global positioning system (GPS).In vehicle tracking and communication system, combine this two technology, carry out the voice-and-data transmission simultaneously, make the vehicle driver at GPS treater and/or vehicle sensors simultaneously in monitoring center's transmission data, keep continuous voice communication with monitoring center.
Particularly, the invention provides a kind of system, for convenience, its separated into two parts is introduced.These two parts intercom mutually by cellular phone link.First of the present invention is placed in the vehicle.There are a mobile unit, cell phone component and optionally vehicle sensors and optionally long-distance operating device in this first.
This mobile unit has a GPS receiver, continuously the gps satellite acquired information from the Earth's orbit.Through handling, the signal of these satellite launching can provide the geographic position of signal receiving unit after receiving.On the basis of this information, determine the position of vehicle.
Except the GPS position data, Vehicular sensor device also provides data to communicator.The various situations of vehicle sensors monitor vehicle, for example break in, stolen, draw, have an accident, operating range is too far away, the user drives hypervelocity, surmount the geographical frontier or dialogue is monitored.The data that the incident that taken place is described send together with voice signal simultaneously.
Receive the data (GPS position data and/or sensor device data) of mobile unit and when it is handled digital signal processor (DSP) voice signal of mobile unit data with Vehicular occupant if any, is merged together.If phone can not receive speech data, just send the mobile unit data separately.
The signal that cell phone will merge sends second portion of the present invention, i.e. monitoring center to by cellular radio network.In following the communication process of monitoring center, the GPS receiver offers signal processor with gps data continuously, inserts in the signal that sends.
Monitoring center has one with the similar communicator of mobile unit, does not just have the GPS receiver; It has a phone; A computing machine wherein has the software of tracking and numerical map; And a graphoscope, the position of displayed map and vehicle on telltale.
The signal of coming in separates the phonological component of mobile unit data with signal through the DSP filtering of monitoring center.These instruments pass to phone with the phonological component of signal, and one or more operator in the monitoring center just can be with the Vehicular occupant dialogue like this.These instruments pass to computing machine with the data division of signal.The computing machine that software and numerical map are housed is handled these data, the position on map at displayed map on the telltale and vehicle.Owing to transmit gps data at the same time during calling out, so the operator of monitoring center can follow the tracks of the motion of vehicle in session always.Computing machine also shows the data of vehicle sensors.
Except verbal message, in one embodiment of the invention, monitoring center is in fact also by the long-distance operating device on the computer controlled vehicle.For example, monitoring center can automatically stop the running of car engine, presses the loudspeaker of vehicle, opens car light, perhaps starts vehicle to charge the battery.The DSP of monitoring center also merges the operator's of monitoring center sound filtering with the data of computing machine.The operator of monitoring center just can send indication or provide out of Memory to vehicle driver or passenger like this.
The present invention is by combining voice-and-data simultaneously transmission, overcome the shortcoming of vehicle tracking and communication system in the prior art well.This system is by filtering out the sub-fraction voice that central frequency is 2500Hz, transmission when realizing voice-and-data.Digital signal processor is adjusted the data-signal of mobile unit then, and it is moved in the cutting of 2500Hz in the voice signal.These two signal combination get up to produce an independent signal, send by cellular phone network.Composite signal can both reflect original voice signal usually.This feature makes the present invention can follow any cellular system, radio station, microwave system or telephone system comparable.System's special telephone system of needs in the prior art disposes and turns round, and by comparison, the present invention obviously is better than the system in the prior art.
When receiving element is received signal,, data message is separated with voice messaging again to signal filtering.Though voice messaging has been lost near the sub-fraction the 2500Hz, can not cause tangible signal quality to descend, because the ratio that the data-signal that removes in the voice signal accounts for is very little.In addition, to be selected in 2500Hz be exactly in order to reduce the decline of quality of speech signal to greatest extent to the cutting in the voice signal.
Further reinforcement to operation of the present invention is to transmit the GPS position data continuously.Transmit continuously the GPS position data make technical personnel in the monitoring station can be on numerical map the motion conditions of monitor vehicle in real time.Can transmit the GPS position data incessantly is because adopted the packing of GPS position data to be transmitted this new method by telephone network.
Advantageously, compare with most modem communication modes, the present invention has adopted a kind of different data-signal mode.Generally speaking, communicate all with modem and will introduce preamble and synchronizing information, be used for making the mass data that transmits between the sending and receiving device synchronous.But send in the present invention, the weak point of gps data and the consecutive pulses string.Communicator of the present invention has been removed preamble and synchronizing information from, replaces the capacity weight of data packet or mobile unit data.Receive after the data packet that signal processor carries out synchronously and demodulation information.This method has reduced the requirement of transmission a little information capacity weight to time and bandwidth, thereby has improved the quality of the voice signal that receives.
The present invention has also overcome the complicated of problem that telephone system echo causes.Echo is unwelcome when sending the voice-and-data signal simultaneously, in the present invention.The present invention overcomes this obstacle by adopt the interruption detector in mobile unit and monitoring station.This interruption detector makes data transmission synchronous, if the monitoring station sends a brief activation signal need for the long-distance operating device of vehicle, just allows mobile unit stop momently sending.This function has overcome the data interruption that the telephone system echo causes.
Another important advantage is that a monitor can be installed on the vehicle that nobody looks after, and does not need to consume without a break the electric power of Vehicular battery.As described below, this preferred embodiment has a kind of consumed current negligible " sleep " pattern." reviving " very short a period of time in this system cycle ground, swarms into to determine whether the someone, and vehicle just can automatically send to monitoring center with warning information like this.
By following detailed introduction and with reference to the following drawings, with prior art compare purpose of the present invention, feature and advantage will become apparent.
The accompanying drawing summary
Fig. 1 is the overall schematic of system among the present invention.
Fig. 2 is the vehicle that various vehicle sensors and long-distance operating device have been installed.
Fig. 3 is the external perspective view of mobile unit among the present invention.
Fig. 4 is the basic flow sheet of signal processing in the mobile unit among the present invention.
Fig. 5 A is the voice signal that has passed through filtering.
Fig. 5 B is the data-signal of mobile unit or the data-signal of giving long-distance operating device.
Fig. 5 C is the later signal of combination, and it comprises voice signal and the vehicle sensors data and/or the long-distance operating device data of transmissive wave.
Fig. 6 is the hardware block diagram of the inner basic layout of mobile unit.
Fig. 7 is the basic flow sheet of monitoring center's signal conditioning.
Fig. 8 A and 8B are the diagram of circuits of working process of the present invention.
Fig. 9 A is the structure of emission data in the prior art.
Fig. 9 B is the structure of emission data among the present invention.
Figure 10 is an emission request monitoring on-cycle block diagram among the present invention.
DESCRIPTION OF THE PREFERRED
Fig. 1 is the overall schematic of system among the present invention.System of the present invention sends to cellular station 14 with voice and GPS position data from vehicle 10 simultaneously, finally sends monitoring center 12 to by land-based telephone line 70.Position data is to obtain from the signal 32 that the satellite network that global positioning system (GPS) satellite 30 is formed is launched.
For convenience of description, separated into two parts of the present invention is discussed.The parts that first's explanation vehicle is 10 li.Parts in the second portion explanation monitoring station 12.
Mobile unit
Fig. 2 is a first of the present invention, and it is by the component set-up of 10 li on vehicle.Mobile unit 20 is used for receiving the signal of various vehicle sensors inputs, and outputs signal to various long-distance operating devices as central process unit.Cell phone mobile transceiver 68 and a gps antenna 44 of being connected with a standard cellular telephone mobile phone 39, a standard substantially with this mobile unit 20.Cellular phone antennas 40 links to each other with cellular transceiver 68.
Fig. 2 other feature of the present invention of also having drawn comprises many embodiments, and wherein various vehicle sensors link to each other with mobile unit 20, and information is sent to mobile unit 20, and can not influence voice communication.With reference to figure 2, embodiment of the present invention can comprise with in the lower sensor any one or all: open door sensor 250, engine running sensor 252, speed/distance sensor 254, baggage container are opened sensor 256, moved/tilted sensor 258, battery charge sensor 260 and the noiseless sensor 262 of requiring assistance.These devices provide information for mobile unit 20, and monitoring center 12 is handled and sent to mobile unit then to the vehicle sensors data.
Fig. 2 other feature of the present invention of also having drawn comprises many embodiments that many long-distance operating devices are linked to each other with mobile unit 20.Long-distance operating device is with various vehicle part mutual actions, thereby the remote signal that monitoring center 12 is sent can be controlled some vehicle functions.Long-distance operating device can comprise: unlocking apparatus 266, engine ignition device 268, loudspeaker exciting bank 270, head lamp exciting bank 272, the device 274 and open the device 276 of baggage container of cutting the engine.
What link to each other with mobile unit 20 is cellular universal component.Cell phone component is divided into three kinds: mobile phone 39, comprise cellular processor, transmit and receive the cellular transceiver 68 and the vehicle cellular antenna 40 of circuit.In addition, or optionally, also have a button (not drawing) to link to each other, be used for promptly setting up the emergency communication contact with monitoring center 12 with very shirtsleeve operation is hidden with mobile unit 20.Perhaps cellular handset can be made in 10 li on vehicle.
Fig. 3 illustrates one group of basic adaptor union that mobile unit 20 provides.Mobile unit 20 has a mobile phone socket 80 and a transceiver socket 82.Cellular handset 39 links to each other with mobile phone socket 80.Cellular transceiver 68 links to each other with socket 82.Gps antenna 44 links to each other with antenna opening 84, and vehicle sensors then links to each other with mobile unit 20 by programming control mouth 86 with long-distance operating device.Power supply input connector 88 links to each other with the 12V direct current (DC) of Vehicular battery.Technical personnel in this area can be found to connect other device on mobile unit, and can not depart from the spirit and scope of the invention.
Fig. 4 illustrates mobile unit 20 in-to-in signal processings.Mobile unit 20 has a GPS receiver 26, and it links to each other with gps antenna 44 by antenna opening 84 (Fig. 3).Mobile unit 20 also has a digital signal processor (DSP) 94, and it comprises a functionality, network interface piece 83,71, binary phase shift keyings of bandpass filter (BPF) (BPSK) modulator 69, adder 58, notch filter 74, notch filter 76, a bandpass filter 81 and a BPSK demoder 78.
The output signal of GPS receiver 26 is transmitted to an input end of PIC microprocessor 27.Also have various exterior vehicle sensors to link to each other with PIC treater 27 by programming control interface (network interface) 86 with device 28 and various long-distance operating device 50.Serial I/O port on the serial I/O port calcaneus rete network interface 83 of PIC treater 27 links to each other.The output of network interface 83 links to each other by the input end of BPSK modulator 69 with bandpass filter 71.The mouth of bandpass filter 71 links to each other with first input end of adder unit 58.
The microphone 40 that mobile phone is 39 li links to each other with microphone modulus (A/D) conv 46 by mobile phone socket 80 (Fig. 3).The output of microphone A/D converter 46 links to each other by second input end of notch filter 74 with adder 58.The mouth of adder 58 links to each other with the input end of transceiver digital-to-analogue (D/A) conv 123.The mouth of transceiver D/A converter links to each other with the analog input end of cellular transceiver 68.The analog output of cellular transceiver 68 links to each other with the input end of transceiver A/D converter 122.The mouth of transceiver A/D converter 122 links to each other with the input end of bandpass filter 81 and the input end of notch filter 76.The output of notch filter 76 links to each other with the input end of loudspeaker D/A converter 48, and the mouth of loudspeaker D/A converter links to each other with the loudspeaker 42 of 39 li of mobile phones.
The mouth of bandpass filter 81 links to each other with the input end of BPSK demoder 78, and the input end of the mouth calcaneus rete network interface 83 of BPSK demoder links to each other.
Also the drawn spectrum waveform of 20 li various signals of mobile unit of Fig. 4.Spectrum waveform 55 is voice signal frequency spectrums of notch filter 74 input ends.Waveform 57 is frequency spectrums (have in Fig. 5 A amplify figure) of notch filter 74 and 76 mouths.Waveform 57 is band-limited spectrums, and its low-end cut-off frequency probably is 300Hz, and high-end cutoff frequency probably is 3000Hz.Waveform 57 also has a very narrow spectral notch, and at the 2500Hz place, width is about 200Hz.Waveform 60 is frequency spectrums (have in Fig. 5 B amplify figure) of BPSK modulator 69 mouths.Waveform 60 is narrow spectrum lines, and central frequency is 2500Hz, and bandwidth is approximately 200Hz.Waveform 62 is output spectrums (have in Fig. 5 C amplify figure) of adder 58, waveform 62 be waveform 57 and 60 and.Last waveform 124 is output spectrums of bandpass filter 81.This waveform 124 is identical with waveform 60 basically.
In addition, as described below, 20 li automatic answering device, auto-dial unit and other electronic units that preferably are useful on this system of mobile unit.
Satellite 30 (see figure 1)s provide signal 32, utilize this signal can very accurately determine the position of mobile unit 20.Common this system is called GPS receiver and treater.The present invention can wide and practical utilize gps system, but can also utilize other data-location signal in the present invention in future.GPS receiver 26 is from satellite 30 received signals 32.Automatic answering device (not drawing) can automatically be replied the calling of monitoring center 12.Automatic answering device with long-distance operating device together, makes that monitoring center 12 can some vehicle functions of Long-distance Control.Technical personnel in this area is all known automatic answering device, therefore will not introduce here.
Auto-dial unit (not drawing) makes mobile unit 20 automatically to call out monitoring center 12 or other entity, for example the vehicle owner when vehicle sensors detects incident.Technical personnel in this area is all understood auto-dial unit, therefore will not introduce here.
94 pairs of voice-and-data signals of DSP are handled.DSP 94 merges these two signals, make it to become the number of it is believed that of voice addend, send monitoring station 12 to, and the voice addend number of it is believed that the monitoring station sends is separated into independent voice signal and data-signal, process is as follows: the output of microphone A/D converter 46 is digital samplings of the analog voice signal that produces of microphone 40.Shown in same waveform 55, the frequency spectrum of voice signal is a bandpass signal, and its low-end cut-off frequency is approximately 300Hz, and high-end cutoff frequency is approximately 3000Hz.Notch filter 74 cuts out sub-fraction from voice spectrum.In a preferred embodiment, notch filter 74 is one 12 limit Butterworth filters, and it cuts out central frequency from frequency spectrum be that 2500Hz, bandwidth are the frequency band of 200Hz.Cut out such sub-fraction frequency spectrum on 2500Hz can listen in fact at all.Use the Butterworth group to make the group delay minimum, thereby reduced the bad auditory response that filter is introduced further.In a specific embodiments of the present invention, this notch filter 74 is transversal filters of 94 li of DSP, and it has 6 biquadratic parts, always has 320 branches.
Network interface 83 receives a serial data stream of the data that comprise GPS position data and Vehicular sensor device 28 from PIC treater 27.Network interface provides data buffering, network data link and channel access service.The data link function comprises the data packing, produces error code, error correcting etc.As described below, in a preferred embodiment, network architecture of the present invention makes mobile unit 20 and monitoring center 12 not launch data simultaneously.When network interface 83 decisions are by which unit emission data.
In a specific embodiments of the present invention, the output of network interface 83 is serial data streams of one 100 bits per second (bps).The data of this 100bps are by feed-in BPSK modulator 69, and the carrier wave that it utilizes binary phase shift keying (BPSK) coded system to modulate the signal to 2500Hz gets on.Filter 71 is sent in the output of BPSK 69, and it is limited in 200Hz with the total bandwidth of data flow.It is 1 nyquist filter that BPSK modulator 69 has a modulator and Alpha, thus make the output of BPSK modulator 69 be a central frequency at 2500Hz, total bandwidth is the signal of 200Hz.Like this, the output spectrum of BPSK modulator 69 has covered that section frequency spectrum that notch filter 74 removes in the voice signal.Adder 58 merges the output of notch filter 74 and BPSK modulator 69, produces a voice addend number of it is believed that has merged.The voice addend number of it is believed that combines of adder 58 output converts analog signal by the D/A 123 of transceiver to from digital signal.
The output of D/A 123 links to each other with cellular transceiver 68 by phone port 82 (Fig. 3).Transceiver 68 is ready to combine voice and data-signal 62 and launches by cellular antenna 40.Preferably use ready-made cell phone component to launch this combine voice and data-signal.Can also launch composite signal 62 by radio signal with other communicator.As shown in Figure 1, composite signal 62 is transferred to cellular station 14, arrives the continental rise phone then and connects 70, arrives monitoring center 12 at last.
This system sends composite signal to monitoring station 12 by standard cellular radio and continental rise telephone system like this.Preferably allow the combine voice addend number of it is believed that 62 only be a voice signal concerning the standard cellular telephone system.This has just been avoided the signal of system among the present invention incompatible with standard telephone/Cellular Networks.
Send to the signal of mobile unit 20 for monitoring station 12, utilize continental rise public switch telephone network (PSTN) to add the data analog signal and give cellular station 14 from monitoring center's combine voice of 12 emissions, cellular station 14 is transmitted to it vehicle 10 again, and finally the transceiver 68 by vehicle receives.The analog voice addend number of it is believed that of receiving from transceiver 68 converts digital signal to by transceiver A/D122, and passes to DSP 94.94 li of DSP, with two the independent signal paths of the digital speech addend number of it is believed that feed-in that combine, there is a notch filter 76 in the voice signal path, and data signal path has a bandpass filter 81 and a BPSK demoder 78.
The transition function of notch filter 76 is the same with the transition function of notch filter 74.Like this, notch filter 76 can be 2500Hz with central frequency in the combined spectral just, and bandwidth is that the part of 200Hz is removed.The part of removing is exactly the data division in the number of it is believed that of combine voice addend, and remaining is the phonological component in the signal.The numeral output of notch filter 76 converts analog signal to by loudspeaker D/A converter 48, flows to the loudspeaker 42 of 39 li of mobile phones then.
The central frequency of bandpass filter 81 is 2500Hz, and bandwidth is 200Hz.This is corresponding to the frequency spectrum of the combine voice addend number of it is believed that mileage according to part.So bandpass filter 81 is just with the blocking-up of the phonological component in the composite signal, an output data part.Monitoring center just uses the BPSK mode of 100bps with the method modulating data that mobile unit 20 adopts.The output of bandpass filter is passed to BPSK demoder 78, demodulate data in this demoder, the output of BPSK demoder 78 is exactly the base-band data stream of a 100bps like this.In this specific embodiments, BPSK demoder 75 utilizes a Costas ring reinsertion of carrier, recovers coding with a constant slope detector.Network interface 83 sends to PIC treater 27 with the data after the demodulation.
A modem is arranged in the preferred embodiments of the invention of Jie Shaoing here, and its adopts BPSK mode is to go on the carrier wave of 2500Hz to 200Hz bandwidth, central frequency with data stream modulates.Technical personnel in this area will appreciate that dedicated bandwidth is not that 200Hz, central frequency are the frequency band of 2500Hz, and uses other frequency band, but this can't depart from the spirit and scope of the invention.Technical personnel in this area also will appreciate that, can also adopt BPSK modulator approach in addition, and 12 Butterworth filters filter transfer function in addition, and can not depart from the spirit and scope of the invention.
In front in the disclosed embodiment, conv 46,48,122 and 123 preferably all is that sampling fraction is 8000Hz, relatively cheap 8 bit pads, and BPSK modulator output signal level is approximately than the high 6dB of notch filter 74 output signals.Utilize these 8 bit pads, as long as the level of data-signal is not less than the level of voice signal, the signal to noise ratio of data-signal is just guaranteed.Reduce the occasion of data signal levels significantly at needs, conv 46,48,122 and 123 can be selected 10 bit pads for use.The outgoing level of BPSK modulator 69 is just than the outgoing level of notch filter 74 much lower (20dB or lower) like this.
Fig. 6 is a hardware block diagram of mobile unit 20, and details, DSP 94 and the PIC treater 27 of GPS receiver 26 wherein arranged.GPS receiver 26 has 302, analog radio frequency pieces of a low noise amplifier (LNA) 304, a correlator block 306 and an arm processor 308.Gps antenna 44 links to each other by the input end of antenna opening 84 (Fig. 3) with LNA 302.The mouth of LNA 302 links to each other with the input end of analog radio frequency piece 304, and the mouth of analog radio frequency piece 304 links to each other with the input end of correlator 306.Correlator 306 links to each other with arm processor 308 by data bus.Also have a random-access memory (ram) 310, an EPROM (EPROM) 312 to link to each other with arm processor 308 with an eprom (EEPROM) 314.Arm processor 308 sends the data to PIC treater 27 by the synchronous serial link 316 of 1kb/s.
PIC treater 27 links to each other with EEPROM 320, and it links to each other with cellular transceiver 68 by the bi-directional synchronization bus.The digital bus out of PIC treater 27 links to each other with an outside output buffer 340, and this energy disperser 340 is made up of the open collector transistor.The mouth of energy disperser 340 links to each other with vehicle interface 346.An acthi analogue buffer 342 and an act low analogue buffer 344 in addition of following vehicle interface 346 to link to each other.Energy disperser 342 links to each other with 344 input buss with PIC treater 27.
DSP 94 has a dsp processor 330 to link to each other with ROM 334 with RAM 332.The synchronous serial I/O port of a 1kbps links to each other with same mouth on the PIC treater 27 by serial link 318 on the dsp processor 330.Dsp processor 330 links to each other with an A/D-D/A codec combination 336 with A/D-D/A coder/decoder combination (codec) 338.Codec 338 comprises microphone A/D converter 46 and loudspeaker D/A converter 48, and codec 336 comprises transceiver A/D converter 122 and transceiver D/A converter 123.
In this preferred embodiment, the GPS receiver is based on the receiver on international maritime technology company (Navigation Technology International) the design-calculated 12 channel NTI/Commico GyPSy-12 receivers.In this NTI receiver, analog radio frequency piece 340 is GEC PlesseyGP2010 triple superheterodynes that a 4.309MHz intermediate frequency output is arranged, correlator 306 is GP2021, and arm processor 308 is ARM60 that produced by senior risk machines corporation (Advanced Risk Machines).In this embodiment, dsp processor is the TM320C25 that a Texas Instruments (Texas Instruments) produces.
Tangible advantage of this preferred embodiment is that it has realized desired configuration, and the power of consumption is minimum.Mobile unit 20 monitor vehicle sensors, and utilize the electric power of battery that response is made in incoming call.In order further to reduce power consumption, mobile unit also has a kind of sleep pattern (seeing the square frame 400 of diagram of circuit among Fig. 8 A), in this pattern, except giving ARM EPROM 312 (to preserve most of current GPS position datas) and PIC treater 27 (allow sleep timer timing) a spot of electric power of power supply needs, this system is in off-mode, only consumes about 25 milliamperes of electric currents of 9～16V.At the predetermined instant of the timer of 27 li of PIC treaters decision, in this preferred embodiment per hour 3～4 times, this system withdraws from sleep pattern, and " reviving " comes, and current GPS signal is compared with the position data that is stored in 312 li of EPROM.If the position changes, this system just can send a warning signal and give monitoring center 12.Monitoring center 12 needs with mobile unit 20 contacts if mobile unit still is in the sleep pattern, and monitoring center just can call out in one of predetermined instant, just in the moment calling of reviving.This preferred embodiment can further be saved electric power, particularly prolonged the length of one's sleep after, and still allow simultaneously monitoring center 12 to get in touch with it at predetermined instant.
In this preferred embodiment, mobile unit utilizes three microprocessors to improve processing speed and further reduces sleep pattern power consumption.A microprocessor provides DSP 94, uses together with transceiver 68.Second microprocessor is ARM microprocessor 308, is placed on 26 li of position data (GPS) receivers.The 3rd microprocessor is PIC treater 27, is used for monitoring the working process of sleep pattern, and the power supply of 20 li other devices of control mobile unit.27 low-down horsepower inputs of needs of PIC treater of selecting, thus in sleep pattern, have only this microprocessor at work and consumption electric power.
PIC treater 27 utilizes energy disperser 340,342 and 344 to carry out power management (not drawing) and vehicle data collection.PIC treater 27 is also collected gps data by serial link 316 from arm processor 308.Arm processor 308 is data handing engines of GPS receiver 26, and it is transmitted to monitoring center with the gps data packing and by certain form.Dsp processor 330 is finished signal conditioning for the merging of voice-and-data channel with separating.Dsp processor also provides the network function that is equivalent to physical access layer, data link layer and medium access layer.The physical access layer is equivalent to actual data modulation/demodulation function.Data link layer is corresponding to the generation of error correction and error code.The medium access layer is the time-division multiplex (MUX) function of data channel just, and echo below suppresses part and also will introduce.
Monitoring center
Second portion of the present invention, just monitoring center 12, illustrate with Fig. 7, and it comprises unit, base 102, computing machine 104 and telltale 106 and phone 108.An automatic answering device (not drawing) can also be arranged.There is a power supply unit, base 102, is all parts power supplies.Combine voice that vehicle sends and data-signal enter monitoring center 12 by the multiplexed telephone system that can handle a plurality of callings simultaneously.This calling enters the A and D converter (A/D) 109 of 102 li of unit, base, and the analog signal of coming from telephone system circuit 70 is converted into digital signal.
The signal conditioning that monitoring center is 12 li is basic identical with the signal conditioning of 20 li of mobile units.In a preferred embodiment, monitoring center 12 and mobile unit 20 all use same circuit card, though there is not the GPS receiver components.Therefore, to the majority discussion of 20 li signal conditioning of mobile unit, particularly the discussion that DSP 94 is carried out is equally applicable to monitoring center above.
In monitoring center, A/D converter 109 links to each other with base cells D SP 110, and it carries out high-order filtering to signal, thereby composite signal 62 is divided into voice signal 57 and mobile unit data-signal 60.The mouth of the DSP of monitoring center links to each other with D and A converter 112, thereby becomes voice signal again analog signal.D and A converter 112 links to each other with the phone 108 of monitoring center, and output reconstructed speech signal monitors for the technician of monitoring center.The voice signal 55 that the voice signal 111 that the technician of monitoring center receives all follows mobile unit 20 to send usually is identical, does not just have the voice signal 59 of the signal in the cutting.
Base cells D SP 110 sent mobile unit data-signal 60 to PIC microprocessor 27 before sending the mobile unit data to monitoring center's computing machine 104.Computing machine 104 can store a plurality of numerical maps.Computing machine 104 receives the GPS position data that vehicle provides, and the position of drawing mobile unit on numerical map, is presented on the graphoscope 106.
Computing machine 104 also stores vehicle 10 and vehicle driver's numerical information.Computing machine 104 is supported the long-distance operating device of monitoring center's control vehicles, the introduction of being done as earlier in respect of figures 5.For example, operator's control computer 104 of 12 li of monitoring center is sent a signal 140 and is given mobile unit 12.The same with 20 li of mobile units, base cells D SP 110 with the long-distance operating device signal be modulated to the 200Hz bandwidth, central frequency is on the carrier wave of 2500Hz.
Monitoring center 12 also supports the passenger conversation of the technician of monitoring center with 10 li on vehicle.The microphone of monitoring center's phone 108 links to each other with the A and D converter 118 of unit, base, and A and D converter then links to each other with base cells D SP 110.Cells D SP 110 usefulness notch filters in base follow it the digital data 130 from computing machine 104 to merge to voice signal filtering then.
The unit, base converts this signal to analog format with a D/A converter 113, and combine voice and digital data signal 140 are exported to communicator, transmits by telephone network circuit 70.Telephone network then links to each other with a cellular station 14, and cellular station is given signal the antenna 44 of mobile unit 20 by radio wave transmission.
20 li of mobile units, antenna 40 receives the composite signal and the transceiver 68 of feeding, and transceiver then links to each other with modulus (A/D) conv 122, links to each other with mobile unit DSP 94 then, and signal is divided into voice signal and monitoring center's data 124.The long-distance operating device of monitoring center's data 124 control vehicles is seen fwd introduction and Fig. 6.
The voice signal 126 that mobile unit DSP 94 handled is delivered to D and A converter 48.D and A converter 48 links to each other with the loudspeaker 42 of mobile unit, thereby makes the chaufeur of mobile unit 20 place vehicles 10 can listen to the technician of monitoring center.
The system of this preferred embodiment can also provide service for many vehicles 10 simultaneously by inserting monitoring center 12 with multiple phone line.When each follow-on-call of mobile unit 20 entered monitoring center, communicator was sent to calling the unit, base 102 of waiting for receipt of call.By increasing and adjust the number of mobile unit 20 and unit, base 102, can enlarge the scope of this operation widely.The present invention can be used to cover the whole country or world wide, for global mobile unit provides service.
System operation
Fig. 8 A and 8B are the operational flowcharts of system among the present invention.Will be when introducing these figure further with reference to figure 4 and Fig. 7.Square frame 400 expression systems are in sleep pattern, have only a low-power microprocessor this moment in work.The chaufeur that the vehicle 10 of mobile unit 20 is housed need be with monitoring center's 12 contacts, and he sees square frame 404 with the telephone number at keypad 28 Input Monitor Connector centers.Also can press monitoring center's direct dialing button (not drawing), put through the phone of monitoring center automatically by Vehicular occupant.On 406 li on square frame, mobile unit 20 is analyzed institute and is dialled the number, and whether gives monitoring center 12 to determine this calling.If this calling is not to monitoring center 12, the cellular device 68 of standard just sends this calling, and system just works according to the cell phone mode of standard, sees square frame 412,416.In this calling procedure, not that mobile unit 20 is processes voice signals not in the calling procedure to monitoring center 12 just, DSP 94 does not control its emission process.
If if this calling is to monitoring center 12 or the direct dialing button is pressed 420, just monitoring center is received in calling, sees square frame 424.
Meanwhile, monitoring center 12 is in standby mode, waits for peacefully the arrival of calling, sees square frame 456.From the calling of mobile unit, square frame 424 is delivered to monitoring center, square frame 460, process be existing telephone network, see square frame 452.On 464 li on square frame, finish the inquiry process, to determine that whether this calling is from the mobile unit of approving 20.Shown in square frame 468, all not approved callings are all cut off automatically.
Monitoring center 12 is received in the calling of approval, see square frame 472,, use base cells D SP 110 filtering then, see square frame 472 through analogue to digital conversion.As mentioned above, unit, base 102 utilizes the information in the signal processing technology processing calling, and like this, when the vehicle driver by the cellular phone link explanation what problem or reason for call had taken place, gps data also sended over simultaneously with voice signal.Utilize this information, the technician that monitoring center is 12 li can determine the position of mobile unit 20 on the numerical map of 104 li of monitoring center's computing machines.
This system utilizes electronics package while transferring voice and the position data in mobile unit 20 and the unit, base 102.With reference now to Fig. 4 and Fig. 8,, see square frame 428, voice signal enters the unit, base from the microphone 40 of cellular handset.A and D converter 46 converts this signal to digital signal 55.
Voice signal 55 enters mobile unit DSP 94, and here this signal is filtered the sub-fraction at 2500Hz place by a notch filter, sees square frame 432.Giving up the voice messaging 59 that is removed, thereby be mobile unit data 60 leaving spaces, just is the data leaving space of position data and/or vehicle sensors.
In DSP processes voice signals 55, on 436 li on square frame, DSP 94 obtains mobile unit data 60, on 440 li on square frame, to 60 shapings of mobile unit data, makes it just be in 59 li of the cuttings of filtering back voice signal 57.
Next step is on 444 li on square frame, and the voice signal 57 that DSP 94 will carve groove merges with mobile unit data 60, obtains combine voice and data-signal 62, and it has consisted essentially of all original voice signals, adds gps data.
As mentioned above, the cutting 59 in the voice signal 55 is positioned at the 2500Hz place, and doing like this is quality for fear of reducing voice signal.Selecting the reason of frequency 2500Hz is that voice signal energy concentrates on below the 1000Hz.Therefore, lose the very narrow part energy of frequency band at the 2500Hz place voice signal is not had remarkable influence.In addition, insert the mobile unit data at the 2500Hz place and can minimizing can cause that the extra harmonic wave of interference enters cellular signal.Select 2500Hz also to avoid the 6000Hz place and be used for the management audio tones that managing cellular is communicated by letter.
Composite signal 62 arrives monitoring center 12 by standard phone line 70.The present invention places one or more unit, base 102 for 12 li in monitoring center.12 li of monitoring center, telephone signal sends unit, base 102 to, and 102 li in the unit, base, as mentioned above, inquire this calling, see that whether it is from the mobile unit of approving, square frame 464.102 automatic cutouts of unit, base are not called out by approval, to avoid system overload 468.
Calling from the mobile unit of approving 20 enters unit, base 102.A and D converter of unit, base 102 usefulness 109 becomes digital signal with Call Transfer.On 472 li on square frame, cells D SP 110 pairs of composite signal 62 filtering in base separate mobile unit data 60 with voice signal 55.Filtered voice signal 111 generally all follows the voice signal of handling at first 55 identical, except mobile unit 20 is given up the cutting 59 fallen in order to give mobile unit data 60 vacating spaces.Convert voice signal 111 to analog format with D and A converter 112 then, again electric signal transmission is given the phone 108 of monitoring station, see square frame 476.
Send the GPS in the base signal of receiving and all other data to computing machine 104, see square frame 480.On 484 li on square frame, base unit computer 104 receives mobile unit data 60.Computing machine 104 demonstrates these information and the relevant mobile unit 20 that stores, vehicle 10 and vehicle driver's information.Computing machine 104 shows near the map mobile unit 20 positions, and indicates the position of vehicle on figure.Equally, the data of vehicle sensors transmission all appear on the graphoscope 106.
On 492 li on square frame, the technician of monitoring center 12 can be to making a response from the information of vehicle 10.For example, monitoring center 12 can provide indication, arranges mechanical aid, sends trailer, and the report police sends fire alarm, and call for an ambulance perhaps provides other assistance for Vehicular occupant.In this whole process, monitoring center 12 keeps continuous voice contact with Vehicular occupant, and obtains the position of continuous position data with real-time monitor vehicle simultaneously.
As mentioned above, the embodiment of the system among the present invention is supported vehicle is followed the tracks of and started anti-joyride device.In operating process, the various safety devices of vehicle sensors monitor vehicle 10.If there is a vehicle sensors to be activated, this sensor device that has activated is just notified mobile unit 20, thereby makes the position data receiver 26 receiving position data of mobile unit.In an embodiment, a urgent auto-dial unit (not drawing) is arranged, it can call out monitoring center 12, and sends out sensing data, position data and help signal.The most handy noiseless sensor 262 of seeking help sends calling, and this sensor comprises hidden no acoustic(al) switch under carpet, and after it was pressed, it can send calling to monitoring center automatically and voicelessly.The calling that utilizes the noiseless sensor 262 of seeking help to send can not sent any sound, Vehicular occupant is promptly robbed the bandit in vehicle and on foot this is known nothing, so also can give special warning signal of monitoring center, tell this calling of monitoring center to send by the noiseless sensor of seeking help.
Receive after the calling that vehicle 10 sends automatically that monitoring center 12 obtains sensing data and vehicle position informations.The technician that monitoring center is 12 li can take various action.Like this, the technician can follow the tracks of vehicle stealthily, monitors the dialogue in the vehicle simultaneously in confidence.The technician can oral inquiry vehicle 10 chaufeur, allow his report situation, perhaps explain the vehicle sensors data.The technician can send police and other this alarm event of suitable personal investigation.The technician can also send the signal control long-distance operating device with computing machine 104.For example, pursue and attack in order to cooperate the police, the technician can allow cut the engine device 274 that vehicle is stopped.
System of the present invention also supports monitoring center 12 to send calling for mobile unit 20.In the course of the work, monitoring center's computing machine 104 is transferred to the cellular number of mobile unit 20.This calling of automatic answering device automatic answering of mobile unit 20, thus a cellular phone link between monitoring center 12 and mobile unit, set up.See square frame 496, utilize the computing machine 104 of monitoring center, the technician can send control data to long-distance operating device.Like this, monitoring center 12 can be by starting the long-distance operating device control vehicle 10 that earlier in respect of figures 5 is introduced.Vehicle is monitored and followed the tracks of to long-distance operating device together with vehicle sensors, perhaps closes vehicle motor.
It is the same to the mode that monitoring center sends data to follow mobile unit from monitoring center 12 to mobile unit 20 transmission combine voice and data- signal.Square frame 500 and 504 li, the technician of monitoring center 12 picks up the microphone of monitoring center's phone 108, and his sound becomes electric signal, is transformed into digital signal with D and A converter 118 then, and the notch filter filtering of introducing with the front.On 508 li on square frame, follow telephone speech signal 132 combinations from the signal 130 of computing machine 104, and send by telephone network 512, see square frame 512.Composite signal arrives mobile unit by land and cell phone system.
On 516 li on square frame, mobile unit 20 receives the composite signal 140 of unit, base, passes to A and D converter 122, and feed-in mobile unit DSP 94 sees square frame 520 then.DSP 94 is divided into the voice signal components of coming in signal, sees square frame 524 and component of signal 124 that the computing machine of coming in produces, sees square frame 532.48 li audio digital signals is become analog signal in D and A converter.On 528 li on square frame, send voice signal to cell phone loudspeaker 42, just can hear this sound.Mobile unit 20 will send long-distance operating device 50 from the signal of computing machine 124 to and begin operation, see square frame 536.
Data packet is synchronous
An advantage of the invention is that it can overcome the lower problem of method efficient of transmission data in the prior art.Fig. 9 A is the data transmission format in the prior art.When utilizing the standard modem technology by telephone wire 70 transmission data, first's signal has a header 150.Header has a signal to be used for communication between synchronous two communicators.Then, synchronization character 152 is ready to the modem communication device, so that receive workload data subsequently.Workload data 154 are signals 130 that the computing machine of mobile unit data 60 or monitoring center produces.In prior art systems, to compare with synchronization bit 152 with header 150, the transmission time of real data is longer.
In the present invention, the transmission time of comparing workload with the transmission time of header and synchronization bit is shorter relatively.Long header is more favourable, because the signal to noise ratio of Cellular Networks is relatively poor relatively.Therefore, when sending a little information, the method in the prior art is compared with sending workload 154, all needs to distribute more time to come transmit head 150 and synchronization character 152 usually.The present invention with one more effective method transmit data, see Fig. 9 B.This preferred embodiment utilizes the reversed time demodulation to obtain received signal.The present invention at first sends several workloads 154 (wherein each workload all has forward error correcting (FEC) position), is link layer expense (LLO) field 156 (comprising the FEC position equally) then, is a synchronization character 152 at last.Utilize the key of 152 li of LLO fields the data in the workload to be upset with random fashion.
The waveform sampling of the DSP that is receiving to receiving, and in the energy disperser of existence of will taking a sample.At some point, normally in that a period of time at LLO field 156 places, DSP has enough samplings to exist in the energy disperser, and it is realized synchronously.DSP continues to read in input traffic, obtains synchronization character 152 up to it.In case DSP obtains synchronization character 152, it just can return to 156 demodulation of LLO field, thereby obtains workload decoding information necessary.DSP is to data workload 154 demodulation sign indicating numbers then.Carrying out demodulation between each train of impulses that receives data is very easy to.In case demodulate data from data payload, just data are removed randomization, and with the error correction of FEC position.
Utilize this method and apparatus, the present invention can send the position data short pulse continuously, and demodulation immediately after receiving it.Follow the needed time of reception information to compare, DSP can finish demodulation to information in the short time.Length of data package is variable, and an explanation of field length of data package can be arranged in the LLO data packet.The forms data bag should long enough, and DSP could finish synchronously before synchronization character 152 arrives like this.In a preferred embodiment, for the GPS position report, first workload 154 begin to the time between the synchronization character 152 generally be 1.8s.
In a preferred embodiment, FEC position additional in the workload data packet 154 is the Reed-Solomon sign indicating number, and the FEC position that the LLO data packet is 156 li is the goalie sign indicating number.
Data packet 154 is that the data of 156 li of LLO data packets might be identical with the bit pattern of 152 li of synchronization characters in theory, although possibility is little.In an optional embodiment, the data that data payload is 154 li are randomized, like this, even a data packet is identical with synchronization character by chance, data packet subsequently (may be randomized with different keywords) will comprise different bit patterns, thereby can be not the same with synchronization character.Before emission with of the data randomization of a pseudo-random code sequence with 154 li of workloads.This pseudo random code is that a pseudorandom number generator produces with a seed.Then the field of this seed as 156 li of LLO data packets sent together with data payload 154.In a preferred embodiment, each LLO data packet 156 is all used a different seed.After the demodulation, DSP94 utilizes pseudo-random code sequence of this seed reconstruct, and it is the same with being used for workload 154 randomized pseudo-random code sequences.Utilize the pseudo-random code sequence of reconstruct that the data of 154 li of data workloads are gone randomization then.In a certain preferred embodiment, randomization and subsequently go randomization that data payload 154 is carried out xor operation with pseudo-random code sequence to finish.
The sidetone echo is eliminated
Another key character of the present invention is that it can overcome telephone service merchant's sidetone and the influence that echo brings.Sidetone can be eliminated, and as noise, because it is incoherent, and is the statistics pulsation-free, will be much more difficult but will eliminate the data echo.Particularly, if mobile unit 20 and unit, base 12 send data simultaneously, the echo of generation will the interfering data exchange process.
The present invention utilizes the Time Division Multiplexing technology of data channel to solve this problem.Like this, any moment has only one unit transmitting, or the base, or mobile unit.Transmitter unit can not received any echo, because it does not receive any data in during launching.Equally, receiving element can not received any echo, because it does not launch any signal in reception period.
Figure 10 illustrates the groundwork process of emission request detector of the present invention.In Figure 10, can see a series of time periods 1001～1007.During the emission of mobile unit 1001 li, mobile unit 20 transmits, and monitoring station 12 receives the data (for example GPS position report) of mobile units.After mobile unit section launch time 1001 finished, back to back was the listening period section 1002 of mobile unit.1002 li of the listening period sections of mobile unit, mobile unit 20 is not launched any data, and mobile unit 20 enters (reception) pattern of listening to.What follow mobile unit listening period section 1002 closely is the section 1003 launch time of mobile unit.If the listening period section at mobile unit is not received any data for 1002 li, mobile unit is just at time period 1003 li emissions another GPS position report (or other data), mobile unit 20 repeats to listen to process for 1004 li in the listening period section again then, this moment, mobile unit 20 entered receiving mode again, an emission of monitoring station 12 emissions request message.The emission request message causes mobile unit 20 to maintain listen mode for 1005 li in the later time section, and monitoring station 12 emissions data are given mobile unit 20.In case has launched monitoring station 12, mobile unit 20 just recovers its emission earlier and receives this normal cyclic process then.
Therefore, the data transmission in this network is (because can at the both direction transmitting data) of full duplex in a broad sense, but narrow sense ground says that it is not (all the having only a side transmitting because of any moment) of full duplex.This system is a full duplex for voice communication, because the communication between monitoring center 12 and vehicle 10 passengers is carried out simultaneously.The monitoring station is subordinated to mobile unit 20.Monitoring station 12 only could send an emission request message immediately when mobile unit 20 has just sent a message.Like this, mobile unit must constantly send message to the monitoring station.In normal mode of operation, mobile unit sends once new data with about every 1.8s.When mobile unit will send without any information (for example fault has appearred in the GPS receiver, and perhaps vehicle 10 is just in the tunnel), it just must send the padding data bag.In the padding data bag without any useful data (for example the data in the padding data bag can all be zero).The data in the padding data bag will be ignored in monitoring station 12, but continue to receive that the padding data bag has guaranteed that mobile unit 20 maintains synchronous regime with monitoring station 12, and it is unobstructed to help to keep communication channel.
As mentioned above, the length of data package of mobile unit 20 or monitoring station emission is variable.In a preferred embodiment, the length of mobile unit section launch time (for example 1001,1003) approximately is 1.8s, and the length of mobile unit listening period section (for example 1002) is 200～300ms.In this preferred embodiment, the emission request message that monitoring station 12 sends is that length is the no modulating data carrier wave (sinusoidal waveform of 2500Hz) of 200～300ms.
Other embodiment
Though the preferred embodiments of the invention have adopted Digital Signal Processing, also have other mode can be used for, and they are combined voice signal and data-signal filtering.Here selected DSP to be because DSP has better filter capacity.94,110 pairs of voice signals of DSP carry out 12 rank filtering among the present invention.
In another embodiment, the cellular call device of this system is integrated in the mobile unit.A system is arranged in this embodiment, make the user can be by getting in touch with the monitoring station by next button or hiding noiseless danger button.
This preferred embodiment support is integrated into vehicle (automobile) with the present invention and goes for 10 li, but the vehicle (vehicles) except vehicle (automobile) also can adopt this invention.For example, mobile unit of the present invention can be used to follow the tracks of individual, people by motorcycle, dog sled, canoe, big ship, aircraft, balloon or spacecraft, and keeps communication with them.
In another embodiment, monitoring center 12 can be vehicle, truck, canoe, aircraft, train, helicopter or spaceborne mobile station, and monitoring center wherein passes through cell phone or radio link receipt of call, and makes response.
In another embodiment, mobile unit 20 is portable units, preferably a handheld unit.Preferably system is made portable unit, thereby the individual can be taken mobile unit 20, perhaps take with oneself.Portable embodiment of the present invention makes the individual can launch voice signal simultaneously and position data is given monitoring center 12.Portable unit needs police or medical emergency assistance for searching, and what perhaps need guide when lost is individual particularly useful.This system can also use together with Vehicular system, so that help the individual to find their vehicle.In addition, can provide the pseudo-satelite of gps signal can further improve the reliability of portable embodiment among the present invention for the area that gps signal can not cover.
Obviously, said method of the present invention and device are just in order to illustrate the application of preferred embodiment, not for scope of the present invention is limited on the concrete form of being introduced, on the contrary, its objective is and these all possibilities, various improvement and equivalence all will be comprised within the scope of the present invention that claim limited as following.

Claims (78)

1. vehicle tracking and safety system, it has voice communications versus data communications simultaneously with monitoring center far away, and this system comprises:
In described vehicle, produce a microphone of voice signal,
Global positioning system (GPS) receiver in described vehicle is used to produce the position data of described vehicle,
With the continuous filter that is used for removing the narrow-band voice of microphone,
With described filter and first signal processor that described GPS receiver links to each other, the described position data that is used for being in the narrow-band speech range of deletion makes up with voice signal,
A cellular radio emitter is used for launching the monitoring center that described voice-and-data signal is given described distant place simultaneously by common honeycomb and telephone network in vehicle,
Second signal processor in the monitoring center of described distant place is used to separate described voice and location data signal,
With the phone that second signal processor links to each other, be used for a long way off monitoring center and described vehicle between provide voice communication and
Computing machine and telltale link to each other with second signal processor, are used for showing on map the position of the vehicle that described location data signal provides.
2. the vehicle tracking of claim 1 and safety system, wherein cellular radio can transmit and receive data.
3. the vehicle tracking of claim 1 and safety system comprise digital signal processor in one of them signal processor and second signal processor.
4. the vehicle tracking of claim 3 and safety system, digital signal processor wherein has a TMS320C25 digital signal processor.
5. a method is used for transferring voice and position data simultaneously, is used for following vehicle communication and following the tracks of vehicle, and this method may further comprise the steps:
The receiving position data;
Obtain signal of communication from Vehicular occupant;
By removing the part in the described signal of communication, and insertion position data on this position substantially, described position data and described signal of communication are combined into composite signal, composite signal wherein is similar with original signal of communication substantially.
6. the method for transferring voice and position data simultaneously in the claim 5, its central frequency of that part of voice signal that wherein is removed is generally 2500Hz.
7. a method is used for the position of automatic tracking vehicle, and guarantees that simultaneously this method may further comprise the steps with the voice communication simultaneously of high quality between the described vehicle:
Very narrow frequency band of filtering the voice communication signals between described vehicle and tracking and monitoring station at a distance,
To insert in the narrow-band of described signal from the vehicle position data that is positioned at described vehicle GPS receiver, the transfer rate of these data is lower than the fundamental frequency of described frequency band; With
In the tracking station of described distant place, remove described vehicle position data, thereby confirm the position of described vehicle.
8. automatic tracking vehicle location and the method for high-quality voice communications is provided simultaneously in the claim 7, inserts and removes step and used a kind of digital signal processor at filtering wherein.
9. follow the tracks of a kind of system of vehicle, comprising:
A mobile unit comprises:
A GPS receiver that is used for receiving world locational system signal;
Be used to obtain a microphone of voice signal;
A mobile unit signal processor of following described GPS receiver to link to each other with described Mike's wind-powered electricity generation, described mobile unit signal processor combines the global positioning system signal in the voice signal frequency band, produce a composite signal and be used for emission, make voice signal unaffected after having removed global positioning system signal;
A cellular device links to each other with described movable signal treater, is used for transmitting described composite signal by communication network; With
A monitoring center is used for receiving described composite signal, and this monitoring center comprises:
Monitoring center's signal processor is used to separate described global positioning system signal and described voice signal;
A phone is used for receiving described voice signal from described monitoring center signal processor; With
A computing machine is used for the receiving world locational system data, and this computing machine has numerical map and is used to show a read out instrument of position of mobile unit on this map and the map.
10. the system of claim 9, composite signal wherein comprises described voice signal, the sub-fraction of voice signal is replaced by described gps data.
11. the system of claim 9, mobile unit signal processor wherein and described cellular device are handled and are launched the workload of described composite signal, and then launch synchronizing information.
12. be used for a kind of Position Tracking device of vehicle, this device comprises:
A satellite receiver is used to obtain satellite data, and these satellite datas can provide the position of this satellite receiver;
An audio devices is used for obtaining sound signal from vehicle;
A treater is used for described sound signal and satellite data are combined into composite signal; With
A cellular device is used for transmitting described composite signal by communication network.
13. the device of claim 12, wherein audio-frequency information and satellite data are transmitted simultaneously.
14. the device of claim 12, audio-frequency information wherein and satellite data are to send continuously.
15. the device of claim 12, audio-frequency information wherein and satellite data are to send continuously simultaneously.
16. a monitoring center is used for comprising with mobile unit communication:
A telephone answering device is used to receive the calling that comprises voice signal and position data, and described position data is arranged in the frequency spectrum of described voice signal;
A signal processor is separated described position data from voice signal, this signal processor produces a understandable voice signal;
With the phone that described signal processor links to each other, this phone is from described signal processor received speech signal; With
With the computing machine that described signal processor links to each other, this computing machine can receive and handle described position data.
17. the device of claim 16, signal processor wherein comprise a digital signal processor.
18. the device of claim 16, computing machine wherein show the position data of handling on map.
19. a monitoring track channel comprises:
A mobile unit, this mobile unit comprises:
Can obtain a receiver of location data signal;
Information of vehicles is converted to a sensor unit of electric signal;
With the signal processor that described receiver links to each other with sensor unit, it can handle described location data signal and described information of vehicles;
With the communicator that described signal processor links to each other, this communicator is launched the location data signal and the information of vehicles of described processing;
With the microprocessor that described sensor unit links to each other, it allows described communicator make a phone call automatically;
A monitoring center, it can accept the location data signal and the information of vehicles of described processing.
20. the monitoring track channel of claim 19, information of vehicles wherein comprises the verbal information from described mobile unit.
21. the monitoring track channel of claim 19, information of vehicles wherein comprise about the information to the undelegated action of described vehicle.
22. the monitoring track channel of claim 19, sensor unit wherein comprise the detector that opens the door.
23. the monitoring track channel of claim 19, sensor unit wherein comprise a shock sensor.
24. the monitoring track channel of claim 19, sensor unit wherein comprise a battery current sensor.
25. the monitoring track channel of claim 19, information of vehicles wherein comprise that the explanation vehicle has changed the information of position.
26. the monitoring track channel of claim 19, also comprise one can be from the device of cutting the engine of described monitoring center control.
27. a communication and a track channel of utilizing communication network comprises:
Be used to obtain a receiver of location information;
Be used to obtain a communicator of signal of communication;
A treater is used for the packing of described location information and sends in described signal of communication; With,
Can launch a feedway of described location information and described signal of communication.
28. the system of claim 27, communicator wherein has a microphone.
29. the system of claim 27, location information wherein comprises the signal from satellite.
30. the system of claim 27, emitter wherein is formulated into and is used for sending continuously position data.
31. the system of claim 27, position data wherein and signal of communication have been combined and have been used as composite signal and send simultaneously, like this, after composite signal is decoded, comprise that the signal of communication of voice can be understood.
32. a system is used for carrying out tracking with vehicle communication and to it, comprising:
Receive the receiving device of data, can determine the position of described receiving device from these data;
Obtain the input media of Vehicular occupant information;
Processing equipment with described receiving device links to each other with input media is used for and will follows the Vehicular occupant information combination from described input media to become composite signal from the reception data of described receiving device;
With the feedway that described processing equipment links to each other, be used to launch described composite signal and give monitoring center;
Monitoring center's device is used for obtaining and splitting described composite signal, with described Vehicular occupant communication, and follows the tracks of described vehicle.
33. a kind of method of following vehicle communication and following the tracks of vehicle may further comprise the steps:
The receiving position data;
Obtain signal of communication from Vehicular occupant;
Form composite signal among described position data being combined into the frequency spectrum of described signal of communication; With
Launch described composite signal and give monitoring center.
34. the method for claim 23 comprises that described monitoring center receives described composite signal and isolates the step of described position data in the described signal of communication.
35. the method for claim 33, the step that wherein obtains signal of communication comprise the step of utilizing microphone voice signal to be become electric signal.
36. a vehicle tracking safety system has voice communications versus data communications simultaneously with monitoring center at a distance, comprising:
In vehicle, produce a microphone of voice signal,
Global positioning system (GPS) receiver in the vehicle is used to obtain the position data of vehicle,
With first signal processor that described microphone links to each other with described GPS receiver, this signal processor removes a very narrow frequency band from described voice signal, and described position data is made up with the voice signal that has removed a very narrow frequency band,
With the microprocessor that described GPS receiver links to each other with first signal processor, it can allow system enter sleep pattern with saving electric power, and is determining to give described GPS receiver and described first signal processor power supply constantly,
A cellular radio emitter that links to each other with location data signal with described combine voice is used for that the monitoring center to described distant place launches described combine voice and location data signal simultaneously by common honeycomb and telephone network from vehicle,
Second signal processor in the monitoring center of described distant place is used to separate described voice and location data signal,
With the phone that second signal processor links to each other, be used for a long way off monitoring center and described vehicle between carry out voice communication and
Computing machine that links to each other with second signal processor and telltale are used to utilize described location data signal to show the position of described vehicle on map.
37. the vehicle tracking of claim 36 and safety system, sleep pattern wherein comprises a kind of low power consumpting state, and GPS receiver wherein, first signal processor and cellular radio emitter do not consume electric power.
38. the vehicle tracking of claim 36 and safety system wherein make system enter sleep pattern and comprise a PIC microprocessor with the microprocessor of saving electric power.
39. a kind of power-saving method in the battery powered electronic system may further comprise the steps:
Detect when electronic system is at consuming cells electric power;
After one period schedule time, turn off the power supply of all non-basic system parts, make described system enter sleep pattern to save battery electric power;
Give some non-basic system parts power supply a period of time at predetermined instant, so that monitoring system state and reception data.
40. the power-saving method of claim 39, electronic system wherein comprise a vehicle tracking and communication system.
41. the power-saving method of claim 39, basic system parts wherein comprise a microprocessor.
42. the power-saving method of claim 41, wherein microprocessor consumed current when adding 9～16V power supply is no more than 30mA.
43. a kind of power-saving method in the vehicle tracking system may further comprise the steps:
When detect vehicle is not used;
Disconnect the power supply of all power consumption electronic units, vehicle will not kept except those that system storage works in use;
Give described electronic unit power supply at predetermined instant,, and allow described vehicle tracking system receive calling from monitoring center with the check system state.
44. vehicle tracking and safety system have voice communications versus data communications simultaneously with monitoring center at a distance, comprising:
In described vehicle, produce a microphone of voice signal,
Global positioning system (GPS) receiver in described vehicle is used to produce the position data of described vehicle,
With the continuous filter that is used for removing a very narrow voice band of microphone,
With described filter and first signal processor that described GPS receiver links to each other, the described position data that is used for being in the voice band scope of deletion makes up with voice signal,
A cellular radio emitter is used for launching the monitoring center that described voice-and-data signal is given described distant place simultaneously by common honeycomb and telephone network in vehicle,
With the noiseless sensor of seeking help that described cellular radio emitter links to each other, be used for calling out automatically the monitoring center of described distant place after starting,
Second signal processor in the monitoring center of described distant place is used to separate described voice and location data signal,
With the phone that second signal processor links to each other, be used for a long way off monitoring center and described vehicle between provide voice communication and
Computing machine and telltale link to each other with second signal processor, are used for showing on map the position of the vehicle that described location data signal provides.
45. the vehicle tracking of claim 44 and safety system, the noiseless sensor of seeking help wherein comprises a signalling apparatus that can start, and it can allow described cellular radio emitter set up a communication link between described vehicle and described monitoring center.
46. the vehicle tracking of claim 44 and safety system, the noiseless sensor of seeking help wherein comprises a button under the carpet.
47. a Vehicle security system, it has a safety switch, is used for sending in confidence an emergency signal comprising position data to monitoring center at a distance, comprising:
A global positioning system (GPS) receiver is used for receiving satellite signal, calculating the position of GPS receiver,
Cell phone component is used for obtaining and voice signal being provided, and transmits and receives composite signal,
With the digital signal processor that described cell phone component links to each other with described GPS receiver, this terminal signal processor is combined into described voice signal with the satellite-signal that receives, and produces a composite signal,
A safety switch in the time of startup, can call out monitoring center automatically, and send described composite signal to monitoring center, and composite signal wherein comprises help signal and gps data,
A monitoring center can receive and separates described composite signal, determines the position of vehicle.
48. the Vehicle security system of claim 47, safety switch wherein comprise one can be with the hidden switch of pin operation.
49. the Vehicle security system of claim 47 wherein when safety switch is pressed, is set up a communication link between monitoring center and described vehicle, thereby allows monitoring center can hear the sound that vehicle is interior.
50. be used for sending in confidence a kind of system of help signal in the vehicle, comprise:
A position data receiver that is used for the receiving position data;
With the communicator that described position data receiver links to each other, this communicator sends signal in described vehicle;
A noiseless sensor of seeking help in the described vehicle when being triggered, automatically allows described communicator send out described position data and help information.
51. send the system of help signal in the claim 50 in confidence, communicator wherein comprises cell phone component.
52. send the system of help signal in the claim 50 in confidence, communicator wherein sends and reception information.
53. extract a kind of demoder of data in the modulated signal, this modulated signal produces by the modulation unmodulating carrier signal, this demoder comprises:
An energy disperser is used to store a plurality of time domain samplings of described modulated signal; With
A demoder is used for extracting described data from described sampling, and this demoder is configured to:
With described a plurality of time domain sample restitution unmodulating carrier signals, as the reconstructed carrier signal;
Discern the synchronization character in the described modulated signal; With
Utilize reconstructed carrier,, extract described data with a plurality of time domain samplings from synchronization character.
54. the demoder of claim 53, demoder wherein comprise a computer processor that links to each other with memory device and have demoder software in the described internal memory.
55. the demoder of claim 53, demoder wherein comprise a digital signal processor that can link to each other with memory device and are stored in demoder software in the described memory device.
56. the demoder of claim 53, modulated signal wherein produces with the phase shift keying mode.
57. the demoder of claim 56, modulated signal wherein produces with the binary phase shift keying mode.
58. extract a kind of method of a plurality of data bit from modulated signal, this modulated signal produces by modulating a unmodulating carrier signal, described data bit is lined up a sequence, this sequence begins with a beginning data bit, finish with an end data position, this method may further comprise the steps:
Store a plurality of time domain samplings of described modulated signal;
From the described unmodulating carrier signal of described a plurality of time domain sample restitutions, as reconstructed carrier;
Discern the synchronization character in the described modulated signal; With
Utilize described synchronization character and reconstructed carrier, extract described data bit sequence from described time domain sampling.
59. the method for claim 58 is wherein extracted the step of unmodulating carrier signal and is finished with a Costas ring.
60. the method for claim 58 is wherein extracted the step of described data bit sequence and is at first extracted the end data position, extracts the beginning data bit at last.
61. the demoder of claim 58, modulated signal wherein produces with the phase shift keying mode.
62. the method for claim 58, this method is further comprising the steps of:
In described data bit sequence, determine a pseudorandom number generator seed;
Utilize this seed to produce a pseudo-random number sequence; With
Utilize this pseudo-random number sequence to remove the randomization that described data bit adds in front.
63. the method for claim 58, this method is further comprising the steps of:
In described data bit sequence, determine one or more error correcting codes;
Utilize described error correcting code to determine mistake in the described data bit sequence.
64. the method for claim 63, error correcting code wherein are the Reed-Solomon sign indicating numbers.
65. the method for claim 58, a plurality of data bit wherein are divided into a plurality of data packets, and each data packet all has a synchronization character.
66. the method for claim 65, wherein each data packet all has a length field, thereby allows length of data package to have nothing in common with each other.
67. the method for claim 66, wherein each data packet all is divided into a plurality of workloads.
68. the method for claim 67, wherein each workload all comprises a plurality of error correction bits.
69. a method is used to reduce the transmission error that produces owing to the communication channel internal reflection in the communication system, this communication system comprises described communication channel, a main transceiver and a subordinate transceiver, and this method may further comprise the steps:
(1) in first finite time section by described communication channel from described main transceiver to described first uplink data packet of subordinate transceiver transmit;
(2) be in listen mode at second described main transceiver of finite time Duan Lirang; And
(3) give main transceiver if the subordinate transceiver is launched a warning information in second time period, just in the 3rd finite time section by described channel from the subordinate transceiver to first downlink packet of main transceiver transmit.
70. the method for claim 69 also is included in the 4th the finite time section by described communication channel from the step of main transceiver to second uplink data packet of subordinate transceiver transmit.
71. the method for claim 69, warning information wherein comprise a unmodulated carrier.
72. the method for claim 69, step 1 wherein, 2 and 3 repeats repeatedly, produces a plurality of adjustable length first time period and adjustable length a plurality of the 3rd time period corresponding to adjustable length a plurality of upstream data bags.
73. the method for claim 69, step 1 wherein, 2 and 3 repeats repeatedly, produces a plurality of adjustable length first time period corresponding to adjustable length a plurality of uplink data packet.
74. the method for claim 69, wherein there is an extreme length restriction the 3rd time period.
Do not have first uplink data packet 75. the method for claim 74, this method also comprise, just in first time period, send the step of padding data bag.
76. a voice communications versus data communications system comprises:
A mobile unit, it comprises:
Obtain a receiver of location data signal;
A microphone of received speech signal;
Receive and handle a signal processor of described location data signal and voice signal;
With the communicator that described signal processor links to each other, this communicator is configured to launch the location data signal and the voice signal of described processing; With
With a monitoring center of described mobile unit wide apart, this monitoring center receives and location data signal that separates described processing and voice signal.
77. the communication of claim 76 and position fixing system, mobile unit wherein are portable mobile units.
78. the communication of claim 76 and position fixing system, mobile unit wherein are hand-held mobile units.
CN98808573A 1997-06-25 1998-06-23 Vehicle tracking and security system incorporating simultaneous voice and data communication Pending CN1268088A (en)

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